Optimal Task Allocation for Heterogeneous Multi-robot Teams with Battery Constraints
Álvaro Calvo,Jesús Capitán,Álvaro Calvo,Jesús Capitán
This paper presents a novel approach to optimal multi-robot task allocation in heterogeneous teams of robots. When robots have heterogeneous capabilities and there are diverse objectives and constraints to comply with, computing optimal plans can become especially hard. Moreover, we increase the problem complexity by: 1) considering battery-limited robots that need to schedule recharges; 2) tasks ...
